function MoveToPosition(angle_1, angle_2, angle_3, speed)

    % addpath('C:\Users\Pulith Widana\Documents\MATLAB\Dynamixel-AX12-Matlab');
    % addpath('C:\Users\Pulith Widana\Documents\MATLAB\Dynamixel-AX12-Matlab\import');
    % addpath('C:\Users\Pulith Widana\Documents\MATLAB\Dynamixel-AX12-Matlab\bin');
    
    %Load the dynamixel library
    loadlibrary('dynamixel','dynamixel.h');
    
    angle_2 = abs(angle_2);
    angle_3 = -abs(angle_3);
    
    angle_1 = angle_1 + 180;
    angle_2 = angle_2 + 60;
    angle_3 = angle_3 + 150;

    position_1 = angle_1*(4095/360);
    position_2 = angle_2*(1023/300);
    position_3 = angle_3*(1023/300);
    
    %{
    currentPosition_1 = ServoPosition(1);
    currentPosition_2 = ServoPosition(2);
    currentPosition_3 = ServoPosition(3);
    %}
    
    MoveAllServos(position_1, position_2, position_3, speed);
    
    tts('Arm moved', 'Microsoft Zira Desktop - English (United States)');
    
    unloadlibrary('dynamixel');
    
    
    
    